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Proceedings Papers

Design and Control of a Bio-Inspired Inchworm Robot Using a Novel Helical Artificial Muscle Actuator

Joel Quarnstrom, Yujiang Xiang
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A067, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115207
https://doi.org/10.1115/DETC2023-115207
View Paper titled, Design and Control of a Bio-Inspired Inchworm Robot Using a Novel Helical Artificial Muscle Actuator
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Topics: Actuators, Artificial muscles, Biomimetics, Design, Robots
Proceedings Papers

Preliminary Development of a Robotic Hip-Knee Exoskeleton With 3D-Printed Backdrivable Actuators

Alyssia Sanchez, Trent Rossos, Alex Mihailidis, Brokoslaw Laschowski
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A072, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116406
https://doi.org/10.1115/DETC2023-116406
View Paper titled, Preliminary Development of a Robotic Hip-Knee Exoskeleton With 3D-Printed Backdrivable Actuators
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Topics: Actuators, Additive manufacturing, Design, Exoskeleton devices, Knee, Robotics, Robots
Proceedings Papers

Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator

Ziqing Yu, Jiaming Fu, Bin Yao, George Chiu, Richard Voyles, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A058, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115235
https://doi.org/10.1115/DETC2023-115235
View Paper titled, Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator
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Topics: Actuators, Dynamic modeling, Dynamic models, Gain scheduling, Robust control, Stiffness, Torque control, Control algorithms, Robots, Force control
Proceedings Papers

Design of Reprogrammable, Rotary, Single-Actuator Mechanical Logic Valves for Fluid Diversion

Jonathan T. Bessette, Steven Burcat, Alexander H. Slocum
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A085, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115066
https://doi.org/10.1115/DETC2023-115066
View Paper titled, Design of Reprogrammable, Rotary, Single-Actuator Mechanical Logic Valves for Fluid Diversion
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Topics: Actuators, Design, Fluids, Valves, Architecture, Failure, Fittings, Flow (Dynamics), Fluid power systems, Hydraulics
Proceedings Papers

StickBot: A Methodology for Building Robots and Other Functional Elements From Tree Branches and String

Devin Carroll, Valerie Ang, Mark Yim
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A077, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109541
https://doi.org/10.1115/DETC2023-109541
View Paper titled, StickBot: A Methodology for Building Robots and Other Functional Elements From Tree Branches and String
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Topics: Robots, String, Orthotics, Grippers, Robotics, Actuators, Blocks (Building materials), Developing nations, Disaster recovery, End effectors
Proceedings Papers

SPIRA Coils: Soft Self-Sensing Pneumatic Integrated Retractable Actuator Coils

Jacob R. Greenwood, Wyatt Felt
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A076, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109473
https://doi.org/10.1115/DETC2023-109473
View Paper titled, SPIRA Coils: Soft Self-Sensing Pneumatic Integrated Retractable Actuator Coils
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Topics: Actuators, Circuits, Design, Electrical resistance, Pneumatic actuators, Pressure, Sensors, Shapes, Springs, Stiffness
Proceedings Papers

Back-EMF Sensing of Linear Resonant Actuators for Detection of Tap-Induced Vibration

Ryan Schmidt, Melissa Hernandez Guzman, Franziska Schlagenhauf, William Singhose
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A026, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117180
https://doi.org/10.1115/DETC2023-117180
View Paper titled, Back-EMF Sensing of Linear Resonant Actuators for Detection of Tap-Induced Vibration
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Topics: Actuators, Haptics, Resonance, Vibration, Signals, Springs, Dynamics (Mechanics), Magnetic fields, Motors, Control equipment
Proceedings Papers

Modeling and Analysis of a Thin Plate With Multiple Harmonic Excitations for Vibrotactile Touch Display Applications

Santosh Mohan Rajkumar, Kumar Vikram Singh, Jeong-Hoi Koo, Tae-Heon Yang
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A018, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117179
https://doi.org/10.1115/DETC2023-117179
View Paper titled, Modeling and Analysis of a Thin Plate With Multiple Harmonic Excitations for Vibrotactile Touch Display Applications
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Topics: Excitation, Feedback, Haptics, Modeling, Actuators, Rendering, Boundary-value problems, Engineering simulation, Finite element analysis, Finite element model
Proceedings Papers

Derivation of Sensor-Actuator Layout for Active Control of Gearbox Housing Vibration

Sneha Rupa Nampally, Mauro Fontana, Rainer Nordmann, Stephan Rinderknecht
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A011, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110297
https://doi.org/10.1115/DETC2023-110297
View Paper titled, Derivation of Sensor-Actuator Layout for Active Control of Gearbox Housing Vibration
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Topics: Actuators, Mechanical drives, Sensors, Vibration
Proceedings Papers

Can the Attributes of a Waste Bin Improve Recycling? A Literature Review for Sensors and Actuators to Define Product Design Objectives

David Ríos-Zapata, Elizabeth Rendón-Vélez, Santiago Ruiz-Arenas, Juan Carlos Arbeláez-Estrada, Paola Vallejo, Marta Silvia Tabares
Proc. ASME. IDETC-CIE2023, Volume 7: 19th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A014, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114609
https://doi.org/10.1115/DETC2023-114609
View Paper titled, Can the Attributes of a Waste Bin Improve Recycling? A Literature Review for Sensors and Actuators to Define Product Design Objectives
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Topics: Actuators, Design, Product design, Recycling, Sensors
Proceedings Papers

Design and Tracking Control of a Large-Range Reluctance-Actuated Compliant Nano-Manipulator

Xuexuan Li, Yijie Liu, Zhen Zhang
Proc. ASME. IDETC-CIE2023, Volume 7: 19th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A016, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116451
https://doi.org/10.1115/DETC2023-116451
View Paper titled, Design and Tracking Control of a Large-Range Reluctance-Actuated Compliant Nano-Manipulator
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Topics: Actuators, Design, Manipulators, Tracking control, Control equipment, Errors, Closed loop systems, Compliant mechanisms, Density, Engines
Proceedings Papers

Noodle : Design of a Modular, Configurable Serpentine Robot With Series Elastic Actuators and Modular Segment Panels

Gordon Lay, Chris Pretty, Lui Holder-Pearson
Proc. ASME. IDETC-CIE2023, Volume 7: 19th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A005, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117543
https://doi.org/10.1115/DETC2023-117543
View Paper titled, Noodle : Design of a Modular, Configurable Serpentine Robot With Series Elastic Actuators and Modular Segment Panels
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Topics: Actuators, Design, Robots
Proceedings Papers

A Quantitative Comparison of Thermo-Responsive Actuators: Balancing Functionality and Energy Efficiency

Rafaela Louis, Kristina Shea
Proc. ASME. IDETC-CIE2023, Volume 6: 35th International Conference on Design Theory and Methodology (DTM), V006T06A048, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116554
https://doi.org/10.1115/DETC2023-116554
View Paper titled, A Quantitative Comparison of Thermo-Responsive Actuators: Balancing Functionality and Energy Efficiency
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Topics: 4d printing, Actuators, Design, Energy efficiency
Proceedings Papers

A Variable-Stiffness Link for Safe Robot Interactions

Carl A. Nelson, Nick Swerczek, Amber Tannehill
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A082, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114980
https://doi.org/10.1115/DETC2023-114980
View Paper titled, A Variable-Stiffness Link for Safe Robot Interactions
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Topics: Actuators, Robots, Stiffness
Proceedings Papers

Design Space Enumerations for Pneumatically Actuated Soft Continuum Manipulators

Evan Ripperger, Girish Krishnan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A097, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116930
https://doi.org/10.1115/DETC2023-116930
View Paper titled, Design Space Enumerations for Pneumatically Actuated Soft Continuum Manipulators
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Topics: Design, Manipulators, Actuators, Architecture, Valves, End effectors, Fibers, Inertia (Mechanics), Shapes
Proceedings Papers

A Compliant Hinge Joint Driven by the PneuNets Bending Actuator for Enhancing the Performance of Soft Robots

Yi Jin, Hai-Jun Su
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A096, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114816
https://doi.org/10.1115/DETC2023-114816
View Paper titled, A Compliant Hinge Joint Driven by the PneuNets Bending Actuator for Enhancing the Performance of Soft Robots
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Topics: Actuators, Hinges, Pneumatic actuators, Soft robots
Proceedings Papers

Proposed Design for Electromechanical Telescoping Actuator to Replace Hydraulics in Extreme High Force and Long Stroke Applications

Carmen Sleight Crawford, Mariia Smyk, Sophia Cheung, Doug Coughran, Jeffrey Costello, ZhiYi Liang, Amos G. Winter, V
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A086, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115098
https://doi.org/10.1115/DETC2023-115098
View Paper titled, Proposed Design for Electromechanical Telescoping Actuator to Replace Hydraulics in Extreme High Force and Long Stroke Applications
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Topics: Actuators, Design, Hydraulics, Screws
Proceedings Papers

SEA-Leg: A Wheel-Leg Hybrid Locomotion Platform for Uncontrolled Environments Using Series Elastic Actuators

Nick Swerczek, Carl A. Nelson, John Cerny, Amber Tannehill
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A091, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116769
https://doi.org/10.1115/DETC2023-116769
View Paper titled, SEA-Leg: A Wheel-Leg Hybrid Locomotion Platform for Uncontrolled Environments Using Series Elastic Actuators
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Topics: Actuators, Mechanical admittance, Robotics, Seas, Stiffness, Wheels
Proceedings Papers

A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping

Vitthal Khatik, Anupam Saxena
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A071, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115115
https://doi.org/10.1115/DETC2023-115115
View Paper titled, A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping
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Topics: Artificial limbs, Exoskeleton devices, Grasping, Pulleys, String, Actuators, Arches, Degrees of freedom, End effectors, Rotation
Proceedings Papers

Design for Additive Manufacturing of Pneumatic Soft Robotics via a Large-Scale, High-Viscosity Vat Photopolymerization Process

Roxana Carbonell, Hongtao Song, Carolyn Seepersad, Richard Crawford
Proc. ASME. IDETC-CIE2023, Volume 5: 28th Design for Manufacturing and the Life Cycle Conference (DFMLC), V005T05A015, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116885
https://doi.org/10.1115/DETC2023-116885
View Paper titled, Design for Additive Manufacturing of Pneumatic Soft Robotics via a Large-Scale, High-Viscosity Vat Photopolymerization Process
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Topics: Additive manufacturing, Design, Soft robots, Viscosity, Plasma desorption mass spectrometry, Actuators, Geometry, Pneumatic actuators, Printing, Elastomers